@viamrobotics/motion-tools 1.12.3 → 1.13.1

package/dist/loaders/pcd/worker.inline.js

@@ -3566,7 +3566,7 @@ void main() {
 	#include <fog_fragment>
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-\`);for(let g=0,y=_.length;g<y;g++){if(_[g]==="")continue;let v=_[g].split(" ");if(d.x!==void 0&&(s.push(parseFloat(v[d.x])),s.push(parseFloat(v[d.y])),s.push(parseFloat(v[d.z]))),d.rgb!==void 0){let b=i.fields.findIndex(U=>U==="rgb"),S=i.type[b],E=parseFloat(v[d.rgb]),T=E;if(S==="F"){let U=new Float32Array(1);U[0]=E,T=new Int32Array(U.buffer)[0]}let A=(T>>16&255)/255,P=(T>>8&255)/255,O=(T>>0&255)/255;c.setRGB(A,P,O,G),a.push(c.r,c.g,c.b)}d.normal_x!==void 0&&(r.push(parseFloat(v[d.normal_x])),r.push(parseFloat(v[d.normal_y])),r.push(parseFloat(v[d.normal_z]))),d.intensity!==void 0&&l.push(parseFloat(v[d.intensity])),d.label!==void 0&&o.push(parseInt(v[d.label]))}}if(i.data==="binary_compressed"){let d=new Uint32Array(e.slice(i.headerLen,i.headerLen+8)),h=d[0],m=d[1],_=t(new Uint8Array(e,i.headerLen+8,h),m),g=new DataView(_.buffer),y=i.offset;for(let v=0;v<i.points;v++){if(y.x!==void 0){let b=i.fields.indexOf("x"),S=i.fields.indexOf("y"),E=i.fields.indexOf("z");s.push(this._getDataView(g,i.points*y.x+i.size[b]*v,i.type[b],i.size[b])),s.push(this._getDataView(g,i.points*y.y+i.size[S]*v,i.type[S],i.size[S])),s.push(this._getDataView(g,i.points*y.z+i.size[E]*v,i.type[E],i.size[E]))}if(y.rgb!==void 0){let b=i.fields.indexOf("rgb"),S=g.getUint8(i.points*y.rgb+i.size[b]*v+2)/255,E=g.getUint8(i.points*y.rgb+i.size[b]*v+1)/255,T=g.getUint8(i.points*y.rgb+i.size[b]*v+0)/255;c.setRGB(S,E,T,G),a.push(c.r,c.g,c.b)}if(y.normal_x!==void 0){let b=i.fields.indexOf("normal_x"),S=i.fields.indexOf("normal_y"),E=i.fields.indexOf("normal_z");r.push(this._getDataView(g,i.points*y.normal_x+i.size[b]*v,i.type[b],i.size[b])),r.push(this._getDataView(g,i.points*y.normal_y+i.size[S]*v,i.type[S],i.size[S])),r.push(this._getDataView(g,i.points*y.normal_z+i.size[E]*v,i.type[E],i.size[E]))}if(y.intensity!==void 0){let b=i.fields.indexOf("intensity");l.push(this._getDataView(g,i.points*y.intensity+i.size[b]*v,i.type[b],i.size[b]))}if(y.label!==void 0){let b=i.fields.indexOf("label");o.push(g.getInt32(i.points*y.label+i.size[b]*v,this.littleEndian))}}}if(i.data==="binary"){let d=new DataView(e,i.headerLen),h=i.offset;for(let m=0,_=0;m<i.points;m++,_+=i.rowSize){if(h.x!==void 0){let g=i.fields.indexOf("x"),y=i.fields.indexOf("y"),v=i.fields.indexOf("z");s.push(this._getDataView(d,_+h.x,i.type[g],i.size[g])),s.push(this._getDataView(d,_+h.y,i.type[y],i.size[y])),s.push(this._getDataView(d,_+h.z,i.type[v],i.size[v]))}if(h.rgb!==void 0){let g=d.getUint8(_+h.rgb+2)/255,y=d.getUint8(_+h.rgb+1)/255,v=d.getUint8(_+h.rgb+0)/255;c.setRGB(g,y,v,G),a.push(c.r,c.g,c.b)}if(h.normal_x!==void 0){let g=i.fields.indexOf("normal_x"),y=i.fields.indexOf("normal_y"),v=i.fields.indexOf("normal_z");r.push(this._getDataView(d,_+h.normal_x,i.type[g],i.size[g])),r.push(this._getDataView(d,_+h.normal_y,i.type[y],i.size[y])),r.push(this._getDataView(d,_+h.normal_z,i.type[v],i.size[v]))}if(h.intensity!==void 0){let g=i.fields.indexOf("intensity");l.push(this._getDataView(d,_+h.intensity,i.type[g],i.size[g]))}h.label!==void 0&&o.push(d.getInt32(_+h.label,this.littleEndian))}}let u=new Ne;s.length>0&&u.setAttribute("position",new oe(s,3)),r.length>0&&u.setAttribute("normal",new oe(r,3)),a.length>0&&u.setAttribute("color",new oe(a,3)),l.length>0&&u.setAttribute("intensity",new oe(l,1)),o.length>0&&u.setAttribute("label",new Ze(o,1)),u.computeBoundingSphere();let f=new Fe({size:.005});return a.length>0&&(f.vertexColors=!0),new Je(u,f)}};var _a=new Ot;self.onmessage=async p=>{let{data:e,id:t}=p.data;if(!(e instanceof Uint8Array)){postMessage({id:t,error:"Invalid data format"});return}try{let n=_a.parse(e.buffer);if(n.geometry){let i=n.geometry.attributes.position?.array??new Float32Array(0),s=n.geometry.attributes.color?.array??null,r=s?new Uint8Array(s.length):null;if(r)for(let a=0,l=s.length;a<l;a++)r[a]=Math.round(s[a]*255);postMessage({positions:i,colors:r,id:t},r?[i.buffer,r.buffer]:[i.buffer])}else postMessage({id:t,error:"Failed to extract geometry"})}catch(n){postMessage({id:t,error:n.message})}};})();
+\`);for(let g=0,y=_.length;g<y;g++){if(_[g]==="")continue;let v=_[g].split(" ");if(d.x!==void 0&&(s.push(parseFloat(v[d.x])),s.push(parseFloat(v[d.y])),s.push(parseFloat(v[d.z]))),d.rgb!==void 0){let b=i.fields.findIndex(U=>U==="rgb"),S=i.type[b],E=parseFloat(v[d.rgb]),T=E;if(S==="F"){let U=new Float32Array(1);U[0]=E,T=new Int32Array(U.buffer)[0]}let A=(T>>16&255)/255,P=(T>>8&255)/255,O=(T>>0&255)/255;c.setRGB(A,P,O,G),a.push(c.r,c.g,c.b)}d.normal_x!==void 0&&(r.push(parseFloat(v[d.normal_x])),r.push(parseFloat(v[d.normal_y])),r.push(parseFloat(v[d.normal_z]))),d.intensity!==void 0&&l.push(parseFloat(v[d.intensity])),d.label!==void 0&&o.push(parseInt(v[d.label]))}}if(i.data==="binary_compressed"){let d=new Uint32Array(e.slice(i.headerLen,i.headerLen+8)),h=d[0],m=d[1],_=t(new Uint8Array(e,i.headerLen+8,h),m),g=new DataView(_.buffer),y=i.offset;for(let v=0;v<i.points;v++){if(y.x!==void 0){let b=i.fields.indexOf("x"),S=i.fields.indexOf("y"),E=i.fields.indexOf("z");s.push(this._getDataView(g,i.points*y.x+i.size[b]*v,i.type[b],i.size[b])),s.push(this._getDataView(g,i.points*y.y+i.size[S]*v,i.type[S],i.size[S])),s.push(this._getDataView(g,i.points*y.z+i.size[E]*v,i.type[E],i.size[E]))}if(y.rgb!==void 0){let b=i.fields.indexOf("rgb"),S=g.getUint8(i.points*y.rgb+i.size[b]*v+2)/255,E=g.getUint8(i.points*y.rgb+i.size[b]*v+1)/255,T=g.getUint8(i.points*y.rgb+i.size[b]*v+0)/255;c.setRGB(S,E,T,G),a.push(c.r,c.g,c.b)}if(y.normal_x!==void 0){let b=i.fields.indexOf("normal_x"),S=i.fields.indexOf("normal_y"),E=i.fields.indexOf("normal_z");r.push(this._getDataView(g,i.points*y.normal_x+i.size[b]*v,i.type[b],i.size[b])),r.push(this._getDataView(g,i.points*y.normal_y+i.size[S]*v,i.type[S],i.size[S])),r.push(this._getDataView(g,i.points*y.normal_z+i.size[E]*v,i.type[E],i.size[E]))}if(y.intensity!==void 0){let b=i.fields.indexOf("intensity");l.push(this._getDataView(g,i.points*y.intensity+i.size[b]*v,i.type[b],i.size[b]))}if(y.label!==void 0){let b=i.fields.indexOf("label");o.push(g.getInt32(i.points*y.label+i.size[b]*v,this.littleEndian))}}}if(i.data==="binary"){let d=new DataView(e,i.headerLen),h=i.offset;for(let m=0,_=0;m<i.points;m++,_+=i.rowSize){if(h.x!==void 0){let g=i.fields.indexOf("x"),y=i.fields.indexOf("y"),v=i.fields.indexOf("z");s.push(this._getDataView(d,_+h.x,i.type[g],i.size[g])),s.push(this._getDataView(d,_+h.y,i.type[y],i.size[y])),s.push(this._getDataView(d,_+h.z,i.type[v],i.size[v]))}if(h.rgb!==void 0){let g=d.getUint8(_+h.rgb+2)/255,y=d.getUint8(_+h.rgb+1)/255,v=d.getUint8(_+h.rgb+0)/255;c.setRGB(g,y,v,G),a.push(c.r,c.g,c.b)}if(h.normal_x!==void 0){let g=i.fields.indexOf("normal_x"),y=i.fields.indexOf("normal_y"),v=i.fields.indexOf("normal_z");r.push(this._getDataView(d,_+h.normal_x,i.type[g],i.size[g])),r.push(this._getDataView(d,_+h.normal_y,i.type[y],i.size[y])),r.push(this._getDataView(d,_+h.normal_z,i.type[v],i.size[v]))}if(h.intensity!==void 0){let g=i.fields.indexOf("intensity");l.push(this._getDataView(d,_+h.intensity,i.type[g],i.size[g]))}h.label!==void 0&&o.push(d.getInt32(_+h.label,this.littleEndian))}}let u=new Ne;s.length>0&&u.setAttribute("position",new oe(s,3)),r.length>0&&u.setAttribute("normal",new oe(r,3)),a.length>0&&u.setAttribute("color",new oe(a,3)),l.length>0&&u.setAttribute("intensity",new oe(l,1)),o.length>0&&u.setAttribute("label",new Ze(o,1)),u.computeBoundingSphere();let f=new Fe({size:.005});return a.length>0&&(f.vertexColors=!0),new Je(u,f)}};var _a=new Ot;globalThis.onmessage=async p=>{let{data:e,id:t}=p.data;if(!(e instanceof Uint8Array)){postMessage({id:t,error:"Invalid data format"});return}try{let n=_a.parse(e.buffer);if(n.geometry){let i=n.geometry.attributes.position?.array??new Float32Array(0),s=n.geometry.attributes.color?.array??null,r=s?new Uint8Array(s.length):null;if(r)for(let a=0,l=s.length;a<l;a++)r[a]=Math.round(s[a]*255);postMessage({positions:i,colors:r,id:t},r?[i.buffer,r.buffer]:[i.buffer])}else postMessage({id:t,error:"Failed to extract geometry"})}catch(n){postMessage({id:t,error:n.message})}};})();
 /*! Bundled license information:
 
 three/build/three.core.js:

package/dist/loaders/pcd/worker.js

@@ -1,6 +1,6 @@
 import { PCDLoader } from 'three/examples/jsm/loaders/PCDLoader.js';
 const loader = new PCDLoader();
-self.onmessage = async (event) => {
+globalThis.onmessage = async (event) => {
     const { data, id } = event.data;
     if (!(data instanceof Uint8Array)) {
         postMessage({ id, error: 'Invalid data format' });

package/dist/snapshot.js

@@ -68,13 +68,16 @@ export const destroyEntities = (world, entities) => {
 };
 const getRenderArmModels = (renderArmModels) => {
     switch (renderArmModels) {
-        case RenderArmModels.COLLIDERS:
+        case RenderArmModels.COLLIDERS: {
             return 'colliders';
+        }
         case RenderArmModels.UNSPECIFIED:
-        case RenderArmModels.COLLIDERS_AND_MODEL:
+        case RenderArmModels.COLLIDERS_AND_MODEL: {
             return 'colliders+model';
-        case RenderArmModels.MODEL:
+        }
+        case RenderArmModels.MODEL: {
             return 'model';
+        }
     }
 };
 const spawnTransformEntity = (world, transform) => {
@@ -86,8 +89,7 @@ const spawnTransformEntity = (world, transform) => {
         traits.Removable,
     ];
     const poseInFrame = transform.poseInObserverFrame;
-    entityTraits.push(traits.Pose(poseInFrame?.pose));
-    entityTraits.push(traits.Parent(poseInFrame?.referenceFrame));
+    entityTraits.push(traits.Pose(poseInFrame?.pose), traits.Parent(poseInFrame?.referenceFrame));
     if (transform.metadata) {
         const metadata = parseMetadata(transform.metadata.fields);
         if (metadata.color) {

package/dist/three/InstancedArrows/InstancedArrows.js

@@ -18,7 +18,7 @@ const createMaterial = (options) => {
         vertexShader,
         fragmentShader,
         uniforms: {
-            headAtOrigin: { value: 1.0 },
+            headAtOrigin: { value: 1 },
             shaftRadius: { value: defaults.SHAFT_RADIUS },
             headLength: { value: defaults.HEAD_LENGTH },
             headWidth: { value: defaults.HEAD_WIDTH },

package/dist/three/InstancedArrows/box.js

@@ -3,7 +3,7 @@ const bounds = new Box3();
 export function computeBoundingBox(geometry) {
     const src = this.poses.array;
     const poseScale = this.shaftMesh.material.uniforms.poseScale?.value ?? 0.001;
-    const headAtOrigin = this.shaftMesh.material.uniforms.headAtOrigin?.value ?? 1.0;
+    const headAtOrigin = this.shaftMesh.material.uniforms.headAtOrigin?.value ?? 1;
     const r = Math.max(this.shaftRadius, this.headWidth);
     let minX = +Infinity;
     let minY = +Infinity;

package/dist/three/InstancedArrows/raycast.js

@@ -13,29 +13,29 @@ function closestPointsRaySegment(ray, a, b, outRay, outSeg) {
     const O = ray.origin;
     const D = ray.direction; // assume normalized
     const AB = direction.copy(b).sub(a);
-    const a0 = 1.0; // D·D
+    const a0 = 1; // D·D
     const b0 = D.dot(AB);
     const c0 = AB.dot(AB);
     const w0x = O.x - a.x, w0y = O.y - a.y, w0z = O.z - a.z;
     const d0 = D.x * w0x + D.y * w0y + D.z * w0z;
     const e0 = AB.x * w0x + AB.y * w0y + AB.z * w0z;
     const denom = a0 * c0 - b0 * b0;
-    let t = 0.0;
-    let u = 0.0;
+    let t = 0;
+    let u = 0;
     if (denom > 1e-8) {
         t = (b0 * e0 - c0 * d0) / denom;
         u = (a0 * e0 - b0 * d0) / denom;
     }
     else {
-        t = 0.0;
-        u = c0 > 0.0 ? e0 / c0 : 0.0;
+        t = 0;
+        u = c0 > 0 ? e0 / c0 : 0;
     }
-    if (t < 0.0)
-        t = 0.0;
-    if (u < 0.0)
-        u = 0.0;
-    else if (u > 1.0)
-        u = 1.0;
+    if (t < 0)
+        t = 0;
+    if (u < 0)
+        u = 0;
+    else if (u > 1)
+        u = 1;
     outRay.copy(D).multiplyScalar(t).add(O);
     outSeg.copy(AB).multiplyScalar(u).add(a);
     return outRay.distanceToSquared(outSeg);
@@ -68,7 +68,7 @@ export function raycast(raycaster, intersects) {
     localRay.direction.normalize();
     const material = this.shaftMesh.material;
     const poseScale = material.uniforms?.poseScale?.value ?? 0.001;
-    const headAtOrigin = material.uniforms?.headAtOrigin?.value ?? 0.0;
+    const headAtOrigin = material.uniforms?.headAtOrigin?.value ?? 0;
     // pick radius in local space (same units as rendered)
     const radius = Math.max(this.shaftRadius, this.headWidth);
     const array = this.poses.array;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.12.3",
+  "version": "1.13.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -10,8 +10,8 @@
     "@ag-grid-community/styles": "32.3.9",
     "@changesets/cli": "2.29.6",
     "@dimforge/rapier3d-compat": "0.18.2",
-    "@eslint/compat": "1.3.2",
-    "@eslint/js": "9.34.0",
+    "@eslint/compat": "2.0.2",
+    "@eslint/js": "10.0.1",
     "@playwright/test": "1.55.0",
     "@sentry/sveltekit": "10.10.0",
     "@skeletonlabs/skeleton": "3.2.0",
@@ -33,8 +33,8 @@
     "@types/earcut": "^3.0.0",
     "@types/lodash-es": "4.17.12",
     "@types/three": "0.181.0",
-    "@typescript-eslint/eslint-plugin": "8.42.0",
-    "@typescript-eslint/parser": "8.42.0",
+    "@typescript-eslint/eslint-plugin": "8.56.1",
+    "@typescript-eslint/parser": "8.56.1",
     "@viamrobotics/prime-core": "0.1.5",
     "@viamrobotics/sdk": "0.58.0",
     "@viamrobotics/svelte-sdk": "1.0.1",
@@ -49,9 +49,10 @@
     "@zag-js/tree-view": "1.22.1",
     "camera-controls": "3.1.0",
     "esbuild": "^0.27.3",
-    "eslint": "9.34.0",
+    "eslint": "10.0.2",
     "eslint-config-prettier": "10.1.8",
-    "eslint-plugin-svelte": "3.12.1",
+    "eslint-plugin-svelte": "3.15.0",
+    "eslint-plugin-unicorn": "^63.0.0",
     "globals": "16.3.0",
     "idb-keyval": "6.2.2",
     "jsdom": "26.1.0",
@@ -70,7 +71,7 @@
     "tsx": "4.20.5",
     "type-fest": "^5.0.1",
     "typescript": "5.9.2",
-    "typescript-eslint": "8.42.0",
+    "typescript-eslint": "8.56.1",
     "vite": "7.1.11",
     "vite-plugin-devtools-json": "1.0.0",
     "vite-plugin-glsl": "^1.5.5",
@@ -146,10 +147,14 @@
     "build": "vite build && npm run prepack",
     "build:workers": "node scripts/build-workers.js",
     "preview": "vite preview",
-    "check": "svelte-kit sync && pnpm run build:workers && svelte-check --tsconfig ./tsconfig.json",
-    "check:watch": "svelte-kit sync && pnpm run build:workers && svelte-check --tsconfig ./tsconfig.json --watch",
+    "check": "svelte-kit sync && pnpm build:workers && svelte-check --tsconfig ./tsconfig.json && pnpm vet",
+    "check:watch": "svelte-kit sync && pnpm build:workers && svelte-check --tsconfig ./tsconfig.json --watch",
     "format": "prettier --write .",
-    "lint": "prettier --check . && eslint .",
+    "lint:draw": "golangci-lint run ./draw/...",
+    "lint:client": "golangci-lint run ./client/...",
+    "lint:prettier": "prettier --check .",
+    "lint:eslint": "eslint .",
+    "lint": "pnpm lint:prettier && pnpm lint:eslint && pnpm lint:draw",
     "knip": "npx knip --include files,exports,types",
     "test:unit": "vitest",
     "test:client": "go test ./client/... -count=1",
@@ -158,6 +163,9 @@
     "test:coverage": "npx vitest run --coverage",
     "test:e2e": "playwright test",
     "test:e2e-ui": "playwright test --ui",
+    "vet:draw": "go vet ./draw/...",
+    "vet:client": "go vet ./client/...",
+    "vet": "pnpm vet:draw && pnpm vet:client",
     "model-pipeline:run": "node scripts/model-pipeline.js",
     "release": "changeset publish"
   }

package/dist/components/overlay/left-pane/Logs.svelte

@@ -1,52 +0,0 @@
-<script lang="ts">
-	import { useLogs } from '../../../hooks/useLogs.svelte'
-	import Drawer from './Drawer.svelte'
-
-	const logs = useLogs()
-</script>
-
-<Drawer name="Logs">
-	{#snippet titleAlert()}
-		{#if logs.warnings.length > 0}
-			<span class="mr-1 rounded bg-yellow-700 px-1 py-0.5 text-xs text-white">
-				{logs.warnings.length}
-			</span>
-		{/if}
-
-		{#if logs.errors.length > 0}
-			<span class="mr-1 rounded bg-red-700 px-1 py-0.5 text-xs text-white">
-				{logs.errors.length}
-			</span>
-		{/if}
-	{/snippet}
-
-	<div class="flex h-64 flex-col gap-2 overflow-auto p-3">
-		{#each logs.current as log (log.uuid)}
-			<div>
-				<div class="flex flex-wrap items-center gap-1.5">
-					<div
-						class={[
-							'h-2 w-2 rounded-full',
-							{
-								'bg-danger-dark': log.level === 'error',
-								'bg-amber-300': log.level === 'warn',
-								'bg-blue-400': log.level === 'info',
-							},
-						]}
-					></div>
-					<div class="text-subtle-2">{log.timestamp}</div>
-				</div>
-				<div>
-					{#if log.count > 1}
-						<span class="mr-1 rounded bg-green-700 px-1 py-0.5 text-xs text-white">
-							{log.count}
-						</span>
-					{/if}
-					{log.message}
-				</div>
-			</div>
-		{:else}
-			No logs
-		{/each}
-	</div>
-</Drawer>